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<tr><td id="title" class="section"><h1>ROS Plugin API reference</h1></td></tr>
<tr><td id="info" class="section"><p class="infoBox">This plugin provides an interface with the ROS API</p></td></tr>
<tr><td id="alphabetical" class="section"><pre class="lightGreyBox"><a href="?#advertise">simROS.advertise</a>
<a href="?#advertiseService">simROS.advertiseService</a>
<a href="?#call">simROS.call</a>
<a href="?#deleteParam">simROS.deleteParam</a>
<a href="?#getParamBool">simROS.getParamBool</a>
<a href="?#getParamDouble">simROS.getParamDouble</a>
<a href="?#getParamInt">simROS.getParamInt</a>
<a href="?#getParamString">simROS.getParamString</a>
<a href="?#getTime">simROS.getTime</a>
<a href="?#hasParam">simROS.hasParam</a>
<a href="?#imageTransportAdvertise">simROS.imageTransportAdvertise</a>
<a href="?#imageTransportPublish">simROS.imageTransportPublish</a>
<a href="?#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a>
<a href="?#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a>
<a href="?#imageTransportSubscribe">simROS.imageTransportSubscribe</a>
<a href="?#publish">simROS.publish</a>
<a href="?#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a>
<a href="?#searchParam">simROS.searchParam</a>
<a href="?#sendTransform">simROS.sendTransform</a>
<a href="?#sendTransforms">simROS.sendTransforms</a>
<a href="?#serviceClient">simROS.serviceClient</a>
<a href="?#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a>
<a href="?#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a>
<a href="?#setParamBool">simROS.setParamBool</a>
<a href="?#setParamDouble">simROS.setParamDouble</a>
<a href="?#setParamInt">simROS.setParamInt</a>
<a href="?#setParamString">simROS.setParamString</a>
<a href="?#shutdownPublisher">simROS.shutdownPublisher</a>
<a href="?#shutdownServiceClient">simROS.shutdownServiceClient</a>
<a href="?#shutdownServiceServer">simROS.shutdownServiceServer</a>
<a href="?#shutdownSubscriber">simROS.shutdownSubscriber</a>
<a href="?#subscribe">simROS.subscribe</a>
<a href="?#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</pre></td></tr>
<tr><td id="commands" class="section">
<h3 class="subsectionBar">
<a name="advertise" id="advertise"></a>simROS.advertise</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Advertise a topic and create a topic publisher.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string publisherHandle=simROS.advertise(string topicName, string topicType, int queueSize=1, bool latch=false)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>topicName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>topicType</strong> (string): topic type, e.g.: 'geometry_msgs::Twist'</div>
<div>
<strong>queueSize</strong> (int, default: 1): (optional) queue size</div>
<div>
<strong>latch</strong> (bool, default: false): (optional) latch topic</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>publisherHandle</strong> (string): a handle to the ROS publisher</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="advertiseService" id="advertiseService"></a>simROS.advertiseService</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Advertise a service and create a service server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string serviceServerHandle=simROS.advertiseService(string serviceName, string serviceType, string serviceCallback)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>serviceName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>serviceType</strong> (string): topic type, e.g.: 'geometry_msgs::Twist'</div>
<div>
<strong>serviceCallback</strong> (string): name of the callback function, which will be called with a single argument of type table containing the service request payload; it must return another table containing the response</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>serviceServerHandle</strong> (string): a handle to the ROS service server</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#call">simROS.call</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="call" id="call"></a>simROS.call</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Call the service associated with this service client.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">table[] result=simROS.call(string serviceClientHandle, table[] request)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>serviceClientHandle</strong> (string): the service client handle</div>
<div>
<strong>request</strong> (table): the message to publish</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>result</strong> (table): the response message, if the call succeeded</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="deleteParam" id="deleteParam"></a>simROS.deleteParam</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Delete a parameter in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.deleteParam(string name)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>name</strong> (string): name of the parameter</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="getParamBool" id="getParamBool"></a>simROS.getParamBool</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Retrieve a boolean parameter from the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool exists, bool value=simROS.getParamBool(string name, bool defaultValue=false)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>defaultValue</strong> (bool, default: false): default value returned when parameter does not exist</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">
<div>
<strong>exists</strong> (bool): true if the param exists otherwise false</div>
<div>
<strong>value</strong> (bool): the value of the requested parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="getParamDouble" id="getParamDouble"></a>simROS.getParamDouble</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Retrieve a double parameter from the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool exists, double value=simROS.getParamDouble(string name, double defaultValue=0.0)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>defaultValue</strong> (double, default: 0.0): default value returned when parameter does not exist</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">
<div>
<strong>exists</strong> (bool): true if the param exists otherwise false</div>
<div>
<strong>value</strong> (double): the value of the requested parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="getParamInt" id="getParamInt"></a>simROS.getParamInt</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Retrieve an integer parameter from the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool exists, int value=simROS.getParamInt(string name, int defaultValue=0)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>defaultValue</strong> (int, default: 0): default value returned when parameter does not exist</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">
<div>
<strong>exists</strong> (bool): true if the param exists otherwise false</div>
<div>
<strong>value</strong> (int): the value of the requested parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="getParamString" id="getParamString"></a>simROS.getParamString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Retrieve a string parameter from the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool exists, string value=simROS.getParamString(string name, string defaultValue="")<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>defaultValue</strong> (string, default: ""): default value returned when parameter does not exist</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">
<div>
<strong>exists</strong> (bool): true if the param exists otherwise false</div>
<div>
<strong>value</strong> (string): the value of the requested parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="getTime" id="getTime"></a>simROS.getTime</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Return the current ROS time (i.e. the time returned by ros::Time::now()).</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">double time=simROS.getTime(int flag=0)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>flag</strong> (int, default: 0): unused: set to zero</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>time</strong> (double): ROS time expressed in seconds</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="hasParam" id="hasParam"></a>simROS.hasParam</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Check wether a parameter exists in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool exists=simROS.hasParam(string name)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>name</strong> (string): name of the parameter</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>exists</strong> (bool): true if the parameter exists, false otherwise</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="imageTransportAdvertise" id="imageTransportAdvertise"></a>simROS.imageTransportAdvertise</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Advertise a topic and create a topic publisher using ImageTransport.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string publisherHandle=simROS.imageTransportAdvertise(string topicName, int queueSize=1)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>topicName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>queueSize</strong> (int, default: 1): (optional) queue size</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>publisherHandle</strong> (string): a handle to the ROS publisher</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="imageTransportPublish" id="imageTransportPublish"></a>simROS.imageTransportPublish</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Publish a message on the topic associated with this publisher using ImageTransport.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.imageTransportPublish(string publisherHandle, string data, int width, int height, string frame_id)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>publisherHandle</strong> (string): the publisher handle</div>
<div>
<strong>data</strong> (string): the image data</div>
<div>
<strong>width</strong> (int): image width</div>
<div>
<strong>height</strong> (int): image height</div>
<div>
<strong>frame_id</strong> (string): frame id</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="imageTransportShutdownPublisher" id="imageTransportShutdownPublisher"></a>simROS.imageTransportShutdownPublisher</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Shutdown the advertisement associated with this publisher using ImageTransport.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.imageTransportShutdownPublisher(string publisherHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>publisherHandle</strong> (string): the publisher handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="imageTransportShutdownSubscriber" id="imageTransportShutdownSubscriber"></a>simROS.imageTransportShutdownSubscriber</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Unsubscribe the callback associated with this subscriber using ImageTransport.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.imageTransportShutdownSubscriber(string subscriberHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>subscriberHandle</strong> (string): the subscriber handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="imageTransportSubscribe" id="imageTransportSubscribe"></a>simROS.imageTransportSubscribe</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Subscribe to a topic using ImageTransport.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string subscriberHandle=simROS.imageTransportSubscribe(string topicName, string topicCallback, int queueSize=1)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>topicName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>topicCallback</strong> (string): name of the callback function, which will be called as: topicCallback(string data, number width, number height)</div>
<div>
<strong>queueSize</strong> (int, default: 1): (optional) queue size</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>subscriberHandle</strong> (string): a handle to the ROS subscriber</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="publish" id="publish"></a>simROS.publish</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Publish a message on the topic associated with this publisher.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.publish(string publisherHandle, table[] message)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>publisherHandle</strong> (string): the publisher handle</div>
<div>
<strong>message</strong> (table): the message to publish</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="publisherTreatUInt8ArrayAsString" id="publisherTreatUInt8ArrayAsString"></a>simROS.publisherTreatUInt8ArrayAsString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">After calling this function, this publisher will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.publisherTreatUInt8ArrayAsString(string publisherHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>publisherHandle</strong> (string): the publisher handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="searchParam" id="searchParam"></a>simROS.searchParam</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Search a parameter in the ROS Parameter Server, looking in the closest namespace.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">bool found, string name=simROS.searchParam(string name)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>name</strong> (string): name of the parameter</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">
<div>
<strong>found</strong> (bool): true if the parameter has been found</div>
<div>
<strong>name</strong> (string): name of the parameter which has been found</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="sendTransform" id="sendTransform"></a>simROS.sendTransform</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Publish a TF transformation between frames.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.sendTransform(table[] transform)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>transform</strong> (table): the transformation expressed as a geometry_msgs/TransformStamped message, i.e. {header={stamp=timeStamp, frame_id='...'}, child_frame_id='...', transform={translation={x=..., y=..., z=...}, rotation={x=..., y=..., z=..., w=...}}}</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#sendTransforms">simROS.sendTransforms</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="sendTransforms" id="sendTransforms"></a>simROS.sendTransforms</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Publish several TF transformations between frames.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.sendTransforms(table[] transforms)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>transforms</strong> (table): an array of geometry_msgs/TransformStamped messages</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="serviceClient" id="serviceClient"></a>simROS.serviceClient</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Create a service client.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string serviceClientHandle=simROS.serviceClient(string serviceName, string serviceType)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>serviceName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>serviceType</strong> (string): topic type, e.g.: 'geometry_msgs::Twist'</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>serviceClientHandle</strong> (string): a handle to the ROS service client</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#call">simROS.call</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="serviceClientTreatUInt8ArrayAsString" id="serviceClientTreatUInt8ArrayAsString"></a>simROS.serviceClientTreatUInt8ArrayAsString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">After calling this function, this service client will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.serviceClientTreatUInt8ArrayAsString(string serviceClientHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>serviceClientHandle</strong> (string): the service client handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#call">simROS.call</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="serviceServerTreatUInt8ArrayAsString" id="serviceServerTreatUInt8ArrayAsString"></a>simROS.serviceServerTreatUInt8ArrayAsString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">After calling this function, this service server will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.serviceServerTreatUInt8ArrayAsString(string serviceServerHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>serviceServerHandle</strong> (string): the service server handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#call">simROS.call</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="setParamBool" id="setParamBool"></a>simROS.setParamBool</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Set a boolean parameter in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.setParamBool(string name, bool value)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>value</strong> (bool): value of the parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="setParamDouble" id="setParamDouble"></a>simROS.setParamDouble</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Set a double parameter in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.setParamDouble(string name, double value)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>value</strong> (double): value of the parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamInt">simROS.setParamInt</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="setParamInt" id="setParamInt"></a>simROS.setParamInt</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Set a integer parameter in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.setParamInt(string name, int value)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>value</strong> (int): value of the parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamString">simROS.setParamString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="setParamString" id="setParamString"></a>simROS.setParamString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Set a string parameter in the ROS Parameter Server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.setParamString(string name, string value)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>name</strong> (string): name of the parameter</div>
<div>
<strong>value</strong> (string): value of the parameter</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#deleteParam">simROS.deleteParam</a> <a href="#getParamBool">simROS.getParamBool</a> <a href="#getParamDouble">simROS.getParamDouble</a> <a href="#getParamInt">simROS.getParamInt</a> <a href="#getParamString">simROS.getParamString</a> <a href="#hasParam">simROS.hasParam</a> <a href="#searchParam">simROS.searchParam</a> <a href="#setParamBool">simROS.setParamBool</a> <a href="#setParamDouble">simROS.setParamDouble</a> <a href="#setParamInt">simROS.setParamInt</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="shutdownPublisher" id="shutdownPublisher"></a>simROS.shutdownPublisher</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Shutdown the advertisement associated with this publisher.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.shutdownPublisher(string publisherHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>publisherHandle</strong> (string): the publisher handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="shutdownServiceClient" id="shutdownServiceClient"></a>simROS.shutdownServiceClient</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Shutdown the service client.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.shutdownServiceClient(string serviceClientHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>serviceClientHandle</strong> (string): the service client handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#call">simROS.call</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceServer">simROS.shutdownServiceServer</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="shutdownServiceServer" id="shutdownServiceServer"></a>simROS.shutdownServiceServer</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Shutdown the service server.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.shutdownServiceServer(string serviceServerHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>serviceServerHandle</strong> (string): the service server handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertiseService">simROS.advertiseService</a> <a href="#call">simROS.call</a> <a href="#serviceClient">simROS.serviceClient</a> <a href="#serviceClientTreatUInt8ArrayAsString">simROS.serviceClientTreatUInt8ArrayAsString</a> <a href="#serviceServerTreatUInt8ArrayAsString">simROS.serviceServerTreatUInt8ArrayAsString</a> <a href="#shutdownServiceClient">simROS.shutdownServiceClient</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="shutdownSubscriber" id="shutdownSubscriber"></a>simROS.shutdownSubscriber</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Unsubscribe the callback associated with this subscriber.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.shutdownSubscriber(string subscriberHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>subscriberHandle</strong> (string): the subscriber handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#subscribe">simROS.subscribe</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="subscribe" id="subscribe"></a>simROS.subscribe</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Subscribe to a topic.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">string subscriberHandle=simROS.subscribe(string topicName, string topicType, string topicCallback, int queueSize=1, transport_hints transportHints={})<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>topicName</strong> (string): topic name, e.g.: '/cmd_vel'</div>
<div>
<strong>topicType</strong> (string): topic type, e.g.: 'geometry_msgs::Twist'</div>
<div>
<strong>topicCallback</strong> (string): name of the callback function, which will be called with a single argument of type table containing the message payload, e.g.: {linear={x=1.5, y=0.0, z=0.0}, angular={x=0.0, y=0.0, z=-2.3}}</div>
<div>
<strong>queueSize</strong> (int, default: 1): (optional) queue size</div>
<div>
<strong>transportHints</strong> (transport_hints, default: {}): (optional) transport hints</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet"><div>
<strong>subscriberHandle</strong> (string): a handle to the ROS subscriber</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscriberTreatUInt8ArrayAsString">simROS.subscriberTreatUInt8ArrayAsString</a>
</td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="subscriberTreatUInt8ArrayAsString" id="subscriberTreatUInt8ArrayAsString"></a>simROS.subscriberTreatUInt8ArrayAsString</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">After calling this function, this subscriber will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.subscriberTreatUInt8ArrayAsString(string subscriberHandle)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>subscriberHandle</strong> (string): the subscriber handle</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"> <a href="#advertise">simROS.advertise</a> <a href="#imageTransportAdvertise">simROS.imageTransportAdvertise</a> <a href="#imageTransportPublish">simROS.imageTransportPublish</a> <a href="#imageTransportShutdownPublisher">simROS.imageTransportShutdownPublisher</a> <a href="#imageTransportShutdownSubscriber">simROS.imageTransportShutdownSubscriber</a> <a href="#imageTransportSubscribe">simROS.imageTransportSubscribe</a> <a href="#publish">simROS.publish</a> <a href="#publisherTreatUInt8ArrayAsString">simROS.publisherTreatUInt8ArrayAsString</a> <a href="#sendTransform">simROS.sendTransform</a> <a href="#sendTransforms">simROS.sendTransforms</a> <a href="#shutdownPublisher">simROS.shutdownPublisher</a> <a href="#shutdownSubscriber">simROS.shutdownSubscriber</a> <a href="#subscribe">simROS.subscribe</a>
</td>
</tr>
</table>
<br>
</td></tr>
<tr><td id="enums" class="section"></td></tr>
<tr><td id="structs" class="section">
<br><br><h1>Data structures</h1>
<p>Data structures are used to pass complex data around. Create data structures in Lua in the form of a map, e.g.: <code>{line_size=3, add_to_legend=false, selectable=true}</code></p>
<h3 class="subsectionBar">
<a name="struct:transport_hints" id="struct:transport_hints"></a>transport_hints</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                Description
                                            </td>
<td class="apiTableRightDescr"><br></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Fields</td>
<td class="apiTableRightLParam">
<div>
<strong>transports</strong> (table of string, default: {}): the list of transports to use. allowed values are 'reliable', 'unreliable', 'tcp', 'udp' (the last two being synonyms of the first two respectively). transports appearing earlier in the list have higher priority. e.g.: {'unreliable','reliable'} specifies that you would prefer an unreliable transport, followed by a reliable one.</div>
<div>
<strong>tcpNoDelay</strong> (bool, default: false): </div>
<div>
<strong>maxDatagramSize</strong> (int, default: 0): </div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                See also
                                            </td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br>
</td></tr>
<tr><td id="scriptFunctions" class="section">
<br><br><h1>Script functions</h1>
<p>Script functions are used to call some lua code from the plugin side (tipically used for event handlers).</p>
<h3 class="subsectionBar">
<a name="scriptfun:subscriberCallback" id="scriptfun:subscriberCallback"></a>subscriberCallback</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Callback for ROS subscriber.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.subscriberCallback(table[] message)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam"><div>
<strong>message</strong> (table): the topic payload (i.e. the message)</div></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    See also
                                                </td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br><h3 class="subsectionBar">
<a name="scriptfun:imageTransportCallback" id="scriptfun:imageTransportCallback"></a>imageTransportCallback</h3>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    Description
                                                </td>
<td class="apiTableRightDescr">Callback for ROS ImageTransport subscriber.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLSyn">Lua synopsis</td>
<td class="apiTableRightLSyn">simROS.imageTransportCallback(string data, int width, int height)<br>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLParam">Lua parameters</td>
<td class="apiTableRightLParam">
<div>
<strong>data</strong> (string): the image data</div>
<div>
<strong>width</strong> (int): image width</div>
<div>
<strong>height</strong> (int): image height</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftLRet">Lua return values</td>
<td class="apiTableRightLRet">-</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">
                                                    See also
                                                </td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br>
</td></tr>
</table></div>
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